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Design of a Remote Controller for Dismantling Processes Using Excavator  

Kim, Dong-Nam (고려대학교 기계공학과)
Oh, Kyeong-Won (고려대학교 기계공학과)
Hong, Dae-Hie (고려대학교 기계공학과)
Park, Jong-Hyup ((주) 내경엔지니어링)
Hong, Suk-Hie ((주) 내경엔지니어링)
Publication Information
Journal of the Korean Society for Precision Engineering / v.25, no.7, 2008 , pp. 95-102 More about this Journal
Abstract
Since the processes of dismantling are very dangerous, there have been many studies to develop remote operating devices using joystick. In this paper, in order to improve the operability of the dismantling equipment that is usually an excavator, a novel concept of tole-operated device is proposed. Operators who use this device with additional environmental sensing devices can work safely away from the dangerous sites. First, based on the concept design of the remote controller, its workspace is analyzed and the workspace mapping from the device to the excavator is explored. Second, after 7 steps of the excavating processes are defined, the kinematics which deals with the conversion from the 3 dimensional position information of the device to the joint variable information of the backhoe is included in this paper. Lastly, 3D graphical simulation of both remote controller and the backhoe will be shown. This new design of the remote control device tan be easily manufactured and gives the workers very convenient and transparent remote control capability.
Keywords
Remote Controller; Excavator; Inverse Kinematics; Dismantling Process;
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